// vector _y as user input
public static void ComputePCATransf(List <Point3D> _points, Vector3D v_correction, out Matrix3D trWC2LC, out Matrix3D trLC2WC)
{
trWC2LC = Matrix3D.Identity;
trLC2WC = Matrix3D.Identity;
if (_points == null || _points.Count < 1 || v_correction == null)
{
return;
}
Point3D pivot;
Vector3D vec0, vec1, vec2;
GeometricTransforms.CalculatePCA(_points, out pivot, out vec0, out vec1, out vec2);
// detect which base vector is closest to the correction vector
v_correction.Normalize();
double angle0 = Vector3D.DotProduct(v_correction, vec0);
double angle1 = Vector3D.DotProduct(v_correction, vec1);
double angle2 = Vector3D.DotProduct(v_correction, vec2);
Vector3D vec_to_rotate = vec2;
if (Math.Abs(angle0) < Math.Abs(angle1) && Math.Abs(angle0) < Math.Abs(angle2))
{
vec_to_rotate = (angle0 > 0) ? vec0 : -vec0;
}
else if (Math.Abs(angle1) < Math.Abs(angle0) && Math.Abs(angle1) < Math.Abs(angle2))
{
vec_to_rotate = (angle1 > 0) ? vec1 : -vec1;
}
else
{
vec_to_rotate = (angle2 > 0) ? vec2 : -vec2;
}
// correct by user-defined vector
Matrix3D R = GeometricTransforms.AlingVector(v_correction, vec_to_rotate);
Vector3D vec0_r = R.Transform(vec0);
Vector3D vec1_r = R.Transform(vec1);
Vector3D vec2_r = R.Transform(vec2);
// debug
List <Vector3D> ucs_1 = new List <Vector3D> {
vec0, vec1, vec2, v_correction
};
List <Vector3D> ucs_2 = new List <Vector3D> {
vec0_r, vec1_r, vec2_r
};
string ucs_1_str = GeometricTransforms.VectorListToString(ucs_1);
string ucs_2_str = GeometricTransforms.VectorListToString(ucs_2);
// debug
// calculate the transforms WITH CORRECTION
trWC2LC = GeometricTransforms.GetTransformWC2LC(pivot, vec0_r, vec1_r, vec2_r);
trLC2WC = GeometricTransforms.GetTransformLC2WC(pivot, vec0_r, vec1_r, vec2_r);
}
public static void ComputePCATransf(List <Point3D> _points, out Matrix3D trWC2LC, out Matrix3D trLC2WC)
{
trWC2LC = Matrix3D.Identity;
trLC2WC = Matrix3D.Identity;
if (_points == null || _points.Count < 1)
{
return;
}
Point3D pivot;
Vector3D vec0, vec1, vec2;
GeometricTransforms.CalculatePCA(_points, out pivot, out vec0, out vec1, out vec2);
// calculate the transforms
trWC2LC = GeometricTransforms.GetTransformWC2LC(pivot, vec0, vec1, vec2);
trLC2WC = GeometricTransforms.GetTransformLC2WC(pivot, vec0, vec1, vec2);
}
